constify the part of the controller interface exported state interfaces

ros-controls · Oct 7, 2024 · 2205989 · 2205989
1 parent 1bb0eb3
commit 2205989
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Showing 9 changed files with 14 additions and 12 deletions.
diff --git a/controller_interface/include/controller_interface/chainable_controller_interface.hpp b/controller_interface/include/controller_interface/chainable_controller_interface.hpp
@@ -59,7 +59,7 @@ class ChainableControllerInterface : public ControllerInterfaceBase
   bool is_chainable() const final;
 
   CONTROLLER_INTERFACE_PUBLIC
-  std::vector<hardware_interface::StateInterface::SharedPtr> export_state_interfaces() final;
+  std::vector<hardware_interface::StateInterface::ConstSharedPtr> export_state_interfaces() final;
 
   CONTROLLER_INTERFACE_PUBLIC
   std::vector<hardware_interface::CommandInterface::SharedPtr> export_reference_interfaces() final;

diff --git a/controller_interface/include/controller_interface/controller_interface.hpp b/controller_interface/include/controller_interface/controller_interface.hpp
@@ -47,7 +47,7 @@ class ControllerInterface : public controller_interface::ControllerInterfaceBase
    * \returns empty list.
    */
   CONTROLLER_INTERFACE_PUBLIC
-  std::vector<hardware_interface::StateInterface::SharedPtr> export_state_interfaces() final;
+  std::vector<hardware_interface::StateInterface::ConstSharedPtr> export_state_interfaces() final;
 
   /**
    * Controller has no reference interfaces.

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -245,7 +245,8 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    * \returns list of state interfaces for preceding controllers.
    */
   CONTROLLER_INTERFACE_PUBLIC
-  virtual std::vector<hardware_interface::StateInterface::SharedPtr> export_state_interfaces() = 0;
+  virtual std::vector<hardware_interface::StateInterface::ConstSharedPtr>
+  export_state_interfaces() = 0;
 
   /**
    * Set chained mode of a chainable controller. This method triggers internal processes to switch

diff --git a/controller_interface/src/chainable_controller_interface.cpp b/controller_interface/src/chainable_controller_interface.cpp
@@ -44,11 +44,11 @@ return_type ChainableControllerInterface::update(
   return ret;
 }
 
-std::vector<hardware_interface::StateInterface::SharedPtr>
+std::vector<hardware_interface::StateInterface::ConstSharedPtr>
 ChainableControllerInterface::export_state_interfaces()
 {
   auto state_interfaces = on_export_state_interfaces();
-  std::vector<hardware_interface::StateInterface::SharedPtr> state_interfaces_ptrs_vec;
+  std::vector<hardware_interface::StateInterface::ConstSharedPtr> state_interfaces_ptrs_vec;
   state_interfaces_ptrs_vec.reserve(state_interfaces.size());
   ordered_exported_state_interfaces_.reserve(state_interfaces.size());
   exported_state_interface_names_.reserve(state_interfaces.size());
@@ -88,7 +88,8 @@ ChainableControllerInterface::export_state_interfaces()
     }
     ordered_exported_state_interfaces_.push_back(state_interface);
     exported_state_interface_names_.push_back(interface_name);
-    state_interfaces_ptrs_vec.push_back(state_interface);
+    state_interfaces_ptrs_vec.push_back(
+      std::const_pointer_cast<const hardware_interface::StateInterface>(state_interface));
   }
 
   return state_interfaces_ptrs_vec;

diff --git a/controller_interface/src/controller_interface.cpp b/controller_interface/src/controller_interface.cpp
@@ -22,7 +22,7 @@ ControllerInterface::ControllerInterface() : ControllerInterfaceBase() {}
 
 bool ControllerInterface::is_chainable() const { return false; }
 
-std::vector<hardware_interface::StateInterface::SharedPtr>
+std::vector<hardware_interface::StateInterface::ConstSharedPtr>
 ControllerInterface::export_state_interfaces()
 {
   return {};

diff --git a/controller_interface/test/test_chainable_controller_interface.cpp b/controller_interface/test/test_chainable_controller_interface.cpp
@@ -95,7 +95,7 @@ TEST_F(ChainableControllerInterfaceTest, interfaces_prefix_is_not_node_name)
     std::runtime_error);
   ASSERT_THAT(exported_reference_interfaces, IsEmpty());
   // expect empty return because interface prefix is not equal to the node name
-  std::vector<hardware_interface::StateInterface::SharedPtr> exported_state_interfaces;
+  std::vector<hardware_interface::StateInterface::ConstSharedPtr> exported_state_interfaces;
   EXPECT_THROW(
     { exported_state_interfaces = controller.export_state_interfaces(); }, std::runtime_error);
   ASSERT_THAT(exported_state_interfaces, IsEmpty());

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -785,7 +785,7 @@ controller_interface::return_type ControllerManager::configure_controller(
       get_logger(),
       "Controller '%s' is chainable. Interfaces are being exported to resource manager.",
       controller_name.c_str());
-    std::vector<hardware_interface::StateInterface::SharedPtr> state_interfaces;
+    std::vector<hardware_interface::StateInterface::ConstSharedPtr> state_interfaces;
     std::vector<hardware_interface::CommandInterface::SharedPtr> ref_interfaces;
     try
     {

diff --git a/hardware_interface/include/hardware_interface/resource_manager.hpp b/hardware_interface/include/hardware_interface/resource_manager.hpp
@@ -141,7 +141,7 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager
    * \param[in] interfaces list of controller's state interfaces as StateInterfaces.
    */
   void import_controller_exported_state_interfaces(
-    const std::string & controller_name, std::vector<StateInterface::SharedPtr> & interfaces);
+    const std::string & controller_name, std::vector<StateInterface::ConstSharedPtr> & interfaces);
 
   /// Get list of exported tate interface of a controller.
   /**

diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -608,7 +608,7 @@ class ResourceStorage
   template <class HardwareT>
   void import_state_interfaces(HardwareT & hardware)
   {
-    std::vector<StateInterface::ConstSharedPtr> interfaces = hardware.export_state_interfaces();
+    auto interfaces = hardware.export_state_interfaces();
     const auto interface_names = add_state_interfaces(interfaces);
 
     RCLCPP_WARN(
@@ -1242,7 +1242,7 @@ bool ResourceManager::state_interface_is_available(const std::string & name) con
 
 // CM API: Called in "callback/slow"-thread
 void ResourceManager::import_controller_exported_state_interfaces(
-  const std::string & controller_name, std::vector<StateInterface::SharedPtr> & interfaces)
+  const std::string & controller_name, std::vector<StateInterface::ConstSharedPtr> & interfaces)
 {
   std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
   auto interface_names = resource_storage_->add_state_interfaces(interfaces);